Add functions to get Mx, My and Mz.
Dependents: 9DOF-Stick aigamozu_program_ver2 aigamozu_program_ver2_yokokawa aigamozu_auto_ver1 ... more
HMC5843.cpp@0:ae7d06398888, 2010-10-17 (annotated)
- Committer:
- elrafapadron
- Date:
- Sun Oct 17 22:22:39 2010 +0000
- Revision:
- 0:ae7d06398888
- Child:
- 1:65e41eb3c291
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
elrafapadron | 0:ae7d06398888 | 1 | /** |
elrafapadron | 0:ae7d06398888 | 2 | * @author Jose R. Padron |
elrafapadron | 0:ae7d06398888 | 3 | *@author Used HMCHMC6352 library developed by Aaron Berk as template |
elrafapadron | 0:ae7d06398888 | 4 | * @section LICENSE |
elrafapadron | 0:ae7d06398888 | 5 | * |
elrafapadron | 0:ae7d06398888 | 6 | * Copyright (c) 2010 ARM Limited |
elrafapadron | 0:ae7d06398888 | 7 | * |
elrafapadron | 0:ae7d06398888 | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
elrafapadron | 0:ae7d06398888 | 9 | * of this software and associated documentation files (the "Software"), to deal |
elrafapadron | 0:ae7d06398888 | 10 | * in the Software without restriction, including without limitation the rights |
elrafapadron | 0:ae7d06398888 | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
elrafapadron | 0:ae7d06398888 | 12 | * copies of the Software, and to permit persons to whom the Software is |
elrafapadron | 0:ae7d06398888 | 13 | * furnished to do so, subject to the following conditions: |
elrafapadron | 0:ae7d06398888 | 14 | * |
elrafapadron | 0:ae7d06398888 | 15 | * The above copyright notice and this permission notice shall be included in |
elrafapadron | 0:ae7d06398888 | 16 | * all copies or substantial portions of the Software. |
elrafapadron | 0:ae7d06398888 | 17 | * |
elrafapadron | 0:ae7d06398888 | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
elrafapadron | 0:ae7d06398888 | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
elrafapadron | 0:ae7d06398888 | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
elrafapadron | 0:ae7d06398888 | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
elrafapadron | 0:ae7d06398888 | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
elrafapadron | 0:ae7d06398888 | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
elrafapadron | 0:ae7d06398888 | 24 | * THE SOFTWARE. |
elrafapadron | 0:ae7d06398888 | 25 | * |
elrafapadron | 0:ae7d06398888 | 26 | * @section DESCRIPTION |
elrafapadron | 0:ae7d06398888 | 27 | * |
elrafapadron | 0:ae7d06398888 | 28 | * Honeywell HMC5843digital compass. |
elrafapadron | 0:ae7d06398888 | 29 | * |
elrafapadron | 0:ae7d06398888 | 30 | * Datasheet: |
elrafapadron | 0:ae7d06398888 | 31 | * |
elrafapadron | 0:ae7d06398888 | 32 | * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf |
elrafapadron | 0:ae7d06398888 | 33 | */ |
elrafapadron | 0:ae7d06398888 | 34 | |
elrafapadron | 0:ae7d06398888 | 35 | /** |
elrafapadron | 0:ae7d06398888 | 36 | * Includes |
elrafapadron | 0:ae7d06398888 | 37 | */ |
elrafapadron | 0:ae7d06398888 | 38 | #include "HMC5843.h" |
elrafapadron | 0:ae7d06398888 | 39 | |
elrafapadron | 0:ae7d06398888 | 40 | HMC5843::HMC5843(PinName sda, PinName scl) { |
elrafapadron | 0:ae7d06398888 | 41 | |
elrafapadron | 0:ae7d06398888 | 42 | i2c_ = new I2C(sda, scl); |
elrafapadron | 0:ae7d06398888 | 43 | //100KHz, as specified by the datasheet. |
elrafapadron | 0:ae7d06398888 | 44 | i2c_->frequency(100000); |
elrafapadron | 0:ae7d06398888 | 45 | |
elrafapadron | 0:ae7d06398888 | 46 | |
elrafapadron | 0:ae7d06398888 | 47 | } |
elrafapadron | 0:ae7d06398888 | 48 | |
elrafapadron | 0:ae7d06398888 | 49 | |
elrafapadron | 0:ae7d06398888 | 50 | void HMC5843::write(int address, int data) { |
elrafapadron | 0:ae7d06398888 | 51 | |
elrafapadron | 0:ae7d06398888 | 52 | char tx[2]; |
elrafapadron | 0:ae7d06398888 | 53 | |
elrafapadron | 0:ae7d06398888 | 54 | tx[0]=address; |
elrafapadron | 0:ae7d06398888 | 55 | tx[1]=data; |
elrafapadron | 0:ae7d06398888 | 56 | |
elrafapadron | 0:ae7d06398888 | 57 | i2c_->write(HMC5843_I2C_WRITE,tx,2); |
elrafapadron | 0:ae7d06398888 | 58 | |
elrafapadron | 0:ae7d06398888 | 59 | wait_ms(100); |
elrafapadron | 0:ae7d06398888 | 60 | |
elrafapadron | 0:ae7d06398888 | 61 | } |
elrafapadron | 0:ae7d06398888 | 62 | |
elrafapadron | 0:ae7d06398888 | 63 | |
elrafapadron | 0:ae7d06398888 | 64 | void HMC5843::setSleepMode() { |
elrafapadron | 0:ae7d06398888 | 65 | |
elrafapadron | 0:ae7d06398888 | 66 | write(HMC5843_MODE, HMC5843_SLEEP); |
elrafapadron | 0:ae7d06398888 | 67 | } |
elrafapadron | 0:ae7d06398888 | 68 | |
elrafapadron | 0:ae7d06398888 | 69 | void HMC5843::setDefault(void) { |
elrafapadron | 0:ae7d06398888 | 70 | |
elrafapadron | 0:ae7d06398888 | 71 | write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL); |
elrafapadron | 0:ae7d06398888 | 72 | write(HMC5843_CONFIG_B,HMC5843_1_0GA); |
elrafapadron | 0:ae7d06398888 | 73 | write(HMC5843_MODE,HMC5843_CONTINUOUS); |
elrafapadron | 0:ae7d06398888 | 74 | wait_ms(100); |
elrafapadron | 0:ae7d06398888 | 75 | } |
elrafapadron | 0:ae7d06398888 | 76 | |
elrafapadron | 0:ae7d06398888 | 77 | //void HMC5843::SelfTest() { |
elrafapadron | 0:ae7d06398888 | 78 | |
elrafapadron | 0:ae7d06398888 | 79 | //Future |
elrafapadron | 0:ae7d06398888 | 80 | |
elrafapadron | 0:ae7d06398888 | 81 | //} |
elrafapadron | 0:ae7d06398888 | 82 | |
elrafapadron | 0:ae7d06398888 | 83 | |
elrafapadron | 0:ae7d06398888 | 84 | void HMC5843::getAddress(char *buffer) { |
elrafapadron | 0:ae7d06398888 | 85 | |
elrafapadron | 0:ae7d06398888 | 86 | char rx[3]; |
elrafapadron | 0:ae7d06398888 | 87 | char tx[1]; |
elrafapadron | 0:ae7d06398888 | 88 | tx[0]=HMC5843_IDENT_A; |
elrafapadron | 0:ae7d06398888 | 89 | |
elrafapadron | 0:ae7d06398888 | 90 | |
elrafapadron | 0:ae7d06398888 | 91 | i2c_->write(HMC5843_I2C_WRITE, tx,1); |
elrafapadron | 0:ae7d06398888 | 92 | |
elrafapadron | 0:ae7d06398888 | 93 | wait_ms(1); |
elrafapadron | 0:ae7d06398888 | 94 | |
elrafapadron | 0:ae7d06398888 | 95 | i2c_->read(HMC5843_I2C_READ,rx,3); |
elrafapadron | 0:ae7d06398888 | 96 | |
elrafapadron | 0:ae7d06398888 | 97 | buffer[0]=rx[0]; |
elrafapadron | 0:ae7d06398888 | 98 | buffer[1]=rx[1]; |
elrafapadron | 0:ae7d06398888 | 99 | buffer[2]=rx[2]; |
elrafapadron | 0:ae7d06398888 | 100 | } |
elrafapadron | 0:ae7d06398888 | 101 | |
elrafapadron | 0:ae7d06398888 | 102 | |
elrafapadron | 0:ae7d06398888 | 103 | |
elrafapadron | 0:ae7d06398888 | 104 | void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB) { |
elrafapadron | 0:ae7d06398888 | 105 | |
elrafapadron | 0:ae7d06398888 | 106 | |
elrafapadron | 0:ae7d06398888 | 107 | write(HMC5843_CONFIG_A,ConfigA); |
elrafapadron | 0:ae7d06398888 | 108 | write(HMC5843_CONFIG_B,ConfigB); |
elrafapadron | 0:ae7d06398888 | 109 | write(HMC5843_MODE,mode); |
elrafapadron | 0:ae7d06398888 | 110 | |
elrafapadron | 0:ae7d06398888 | 111 | |
elrafapadron | 0:ae7d06398888 | 112 | } |
elrafapadron | 0:ae7d06398888 | 113 | |
elrafapadron | 0:ae7d06398888 | 114 | |
elrafapadron | 0:ae7d06398888 | 115 | |
elrafapadron | 0:ae7d06398888 | 116 | |
elrafapadron | 0:ae7d06398888 | 117 | void HMC5843::readData(int* readings) { |
elrafapadron | 0:ae7d06398888 | 118 | |
elrafapadron | 0:ae7d06398888 | 119 | |
elrafapadron | 0:ae7d06398888 | 120 | char tx[1]; |
elrafapadron | 0:ae7d06398888 | 121 | char rx[2]; |
elrafapadron | 0:ae7d06398888 | 122 | |
elrafapadron | 0:ae7d06398888 | 123 | |
elrafapadron | 0:ae7d06398888 | 124 | tx[0]=HMC5843_X_MSB; |
elrafapadron | 0:ae7d06398888 | 125 | i2c_->write(HMC5843_I2C_READ,tx,1); |
elrafapadron | 0:ae7d06398888 | 126 | i2c_->read(HMC5843_I2C_READ,rx,2); |
elrafapadron | 0:ae7d06398888 | 127 | readings[0]= (int)rx[0]<<8|(int)rx[1]; |
elrafapadron | 0:ae7d06398888 | 128 | |
elrafapadron | 0:ae7d06398888 | 129 | |
elrafapadron | 0:ae7d06398888 | 130 | tx[0]=HMC5843_Y_MSB; |
elrafapadron | 0:ae7d06398888 | 131 | i2c_->write(HMC5843_I2C_READ,tx,1); |
elrafapadron | 0:ae7d06398888 | 132 | i2c_->read(HMC5843_I2C_READ,rx,2); |
elrafapadron | 0:ae7d06398888 | 133 | readings[1]= (int)rx[0]<<8|(int)rx[1]; |
elrafapadron | 0:ae7d06398888 | 134 | |
elrafapadron | 0:ae7d06398888 | 135 | tx[0]=HMC5843_Z_MSB; |
elrafapadron | 0:ae7d06398888 | 136 | i2c_->write(HMC5843_I2C_READ,tx,1); |
elrafapadron | 0:ae7d06398888 | 137 | i2c_->read(HMC5843_I2C_READ,rx,2); |
elrafapadron | 0:ae7d06398888 | 138 | readings[2]= (int)rx[0]<<8|(int)rx[1]; |
elrafapadron | 0:ae7d06398888 | 139 | |
elrafapadron | 0:ae7d06398888 | 140 | |
elrafapadron | 0:ae7d06398888 | 141 | //readings[0] = (int)buffer[0] << 8 | (int)buffer[1]; |
elrafapadron | 0:ae7d06398888 | 142 | //readings[1] = (int)buffer[2] << 8 | (int)buffer[3]; |
elrafapadron | 0:ae7d06398888 | 143 | //readings[2] = (int)buffer[4] << 8 | (int)buffer[5]; |
elrafapadron | 0:ae7d06398888 | 144 | |
elrafapadron | 0:ae7d06398888 | 145 | // readings[0]=buffer[0]; |
elrafapadron | 0:ae7d06398888 | 146 | //readings[1]=buffer[1]; |
elrafapadron | 0:ae7d06398888 | 147 | // readings[2]=buffer[2]; |
elrafapadron | 0:ae7d06398888 | 148 | // readings[3]=buffer[3]; |
elrafapadron | 0:ae7d06398888 | 149 | // readings[4]=buffer[4]; |
elrafapadron | 0:ae7d06398888 | 150 | // readings[5]=buffer[5]; |
elrafapadron | 0:ae7d06398888 | 151 | } |